The influence of drive unit on measurement error of ultrasonic sensor in multi - rotor flying robot

• Autorzy: Gardecki S. , Gośliński J. , Giernacki W.
• Języki publikacji: EN

Abstrakty

EN

The article describes the impact of the drive units on the data obtained from ultrasonic sensors. These sensors are mounted on the multi-rotor flying robot. In experiments, previously designed ultrasonic sensor was used. On purpose of this study special testbed, consisted of a dynamometer and manipulator from KUKA company was created. In the research the influence of the location of the drive unit on the aforementioned sensor was measured. For this purpose, the sensor was placed in front, behind and in the line of the rotating propeller. The obtained results allowed to identify places where there are the least interference from the drive units that affect the ultrasonic sensor. Thanks to this, the results of measurements of the obstacles distance from a flying robot were improved.

Słowa kluczowe

EN

quadrocopter; sonar; ultrasound; navigation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 2
• Strony: 12--17
• Opis fizyczny: Bibliogr. 3 poz., rys.

Twórcy

autor

Gardecki S.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

autor

Gośliński J.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

autor

Giernacki W.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

Bibliografia

• [1] J. Majchrzak, M. Michalski, G. Wiczyński, ,,Distance Estimation With a Long-Range Ultrasonic Sensor System", IEEE Sensors Journal, vol. 9, no. 7, July 2009.
• [2] T. Puls, A. Hein, ,,3D Trajectory Control for Quadrocopter", Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Taipei, 2010, pp. 640-645.
• [3] J.F. Roberts, T.S. Stirling, J.Ch. Zufferey, D. Floreano,”Quadrotor Using Minimal Sensing For Autonomous Indoor Flight", Proc. 3rd US-European Competition and Workshop on Micro Air Vehicle Systems (MAV07), Toulouse, 2007, CD.